CN108527421A - A kind of multifunctional unit humanoid robot - Google Patents
A kind of multifunctional unit humanoid robot Download PDFInfo
- Publication number
- CN108527421A CN108527421A CN201810381622.1A CN201810381622A CN108527421A CN 108527421 A CN108527421 A CN 108527421A CN 201810381622 A CN201810381622 A CN 201810381622A CN 108527421 A CN108527421 A CN 108527421A
- Authority
- CN
- China
- Prior art keywords
- gear
- end wall
- face
- chamber
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a kind of multifunctional unit humanoid robots,Including guide rail,Opening is installed in the guide rail towards left side chamber,It is installed with motor in the side chamber aft bulkhead,The front end face be connected by power of motor is provided with thread spindle,The thread spindle outer surface thread mating connection is provided with lateral mass,The lateral mass upper and lower end face is installed with fixing axle symmetrical above and below,The fixed axial end far from the thread spindle is installed with spin,End wall is slidably connected the spin up and down with the side chamber,The lateral mass left side is installed with transmission case,It is installed with cavity in the transmission case,It is installed with driving motor in the cavity right end wall,The output shaft left side of the driving motor is installed with active spur gear,Engagement is provided with driven spur gear below the active spur gear,Present device is simple in structure,It is easy to use,This equipment uses plain type structure,Make the functions such as the rotation of this integration of equipments and gripping by motor and cylinder,It effectively reduces the production cost of enterprise and improves work efficiency.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of multifunctional unit humanoid robot.
Background technology
Robot is widely applied in all trades and professions, and in the factory, most commonly used is the robot of transportation type, tradition
Robot there is higher cost, and function integration is poor, this equipment efficiently solves the problems, such as this.
Invention content
The purpose of the present invention is to provide a kind of multifunctional unit humanoid robots, and the above-mentioned of the prior art can be overcome to lack
It falls into.
According to the present invention, a kind of multifunctional unit humanoid robot of present device, including guide rail is fixed in the guide rail
There is side chamber of the opening towards a left side, motor is installed in the side chamber aft bulkhead, the front end face be connected by power of motor is provided with thread spindle,
The thread spindle outer surface thread mating connection is provided with lateral mass, and the lateral mass upper and lower end face is installed with fixation symmetrical above and below
Axis, the fixed axial end far from the thread spindle are installed with spin, and the spin with the side chamber match up and down by end wall sliding
Connection is closed, the lateral mass left side is installed with transmission case, is installed with cavity in the transmission case, fixed in the cavity right end wall
There are driving motor, the output shaft left side of the driving motor to be installed with active spur gear, engaged below the active spur gear
It is provided with driven spur gear, connecting shaft is installed in the driven spur gear, the connecting shaft is rotatably assorted with the cavity right end wall
Connection, the connecting shaft rotation run through the cavity left end wall and stretch out exterior space to the left, and the connecting shaft left side is installed with
Turnning box is installed with rotation chamber in the turnning box, and the rotation chamber right side is installed with rotary electric machine, the output of the rotary electric machine
Axis left side is installed with drive bevel gear, is engaged below the drive bevel gear and is provided with driven wheel of differential, described from mantle tooth
Wheel lower face is installed with shaft, and the driven wheel of differential lower face is installed with shaft, is provided with positioned at institute below the rotation chamber
The drive cavity in turnning box is stated, chamber is provided with and communicated in the drive cavity lower end wall, is provided with and communicated in the even chamber lower end wall
Transluminal, the transluminal are connected to exterior space, and the shaft rotation runs through the rotation chamber lower end wall and stretches into the transmission
Intracavitary, the shaft lower face are installed with driving gear, and symmetrical engagement is nibbled and be provided with to the driving gear left and right sides
Gear, the meshing gear upper surface is installed with to be rotatably assorted the bull stick connecting with the drive cavity upper end wall, the drive cavity
What is rotated between left hand end wall is provided with the internal gear engaged with the meshing gear, and the internal gear lower face is installed with left and right
Symmetrical pedestal, the pedestal lower face are installed with rotary column, and the rotary column is rotatably assorted with the even chamber left hand end wall and connect, institute
Running through the transluminal and stretching out exterior space for rotary column rotation is stated, the lower end thereof face is installed with backing plate, the backing plate lower end
Face is installed with symmetrical hanging stick, and the hanging stick lower face is installed with sole piece, and being provided with for sole piece front end face rotation turns
Handle is installed with pre-and post perforative wears groove in the turning handle, and that is slided in the wears groove is provided with sliding block, and the slip front face turns
The dynamic company's of being provided with block, the backing plate lower face are installed with symmetrical switch block, and what is rotated in the switch block is provided with jacking block,
The jacking block lower face is installed with cylinder, and the push rod of the cylinder is fixed with the even block, and the turnning box upper surface is provided with letter
Number suggestion device.
Further technical solution, the turning handle are spine type structure, and the turning handle is made to be more easy to clamp article.
Further technical solution, the spin are ball shape structure, and end wall pastes the spin completely up and down with the side chamber
It closes and is slidably connected.
Further technical solution, the internal gear, meshing gear and driving gear form planetary gear type structure, described
The meshing gear is set to rotate after driving gear rotation, then the internal gear drives the rotary column rotation.
Further technical solution, the pedestal, internal gear, backing plate and rotary column are an integral structure.
Further technical solution, signal prompt device include top connecting rod, and horizontal solid plate is installed in the top connecting rod, described
Horizontal solid plate left side is installed with detector, and the top small end face is installed with top connecting plate, and the top connecting plate left side is installed with
Warn lamp group.
The beneficial effects of the invention are as follows：
In the initial state due to present device, the motor in the cylinder, rotary electric machine, driving motor and side chamber aft bulkhead
In stop working state, the guide rail is fixedly arranged on the holder of exterior space, to make above structure position in the initial state
It in initial position, can be adjusted in follow-up work, effectively improve the working regularity of equipment.
When equipment is run, the motor in the side chamber aft bulkhead drives the lateral mass to move to designated position, then
Behind the position that the transmission case moves to, the driving motor makes described driven after driving the active spur gear to rotate
Spur gear rotates, and after driving the connecting shaft to rotate, the turnning box turns to specified angle at this time, and the turning handle is made to be located to be pressed from both sides
The near workpieces held, the cylinder operation drive the even block to move down, then the turning handle is flared out, and workpiece is clamped,
The cylinder is stopped and workpiece is made to clamp completely, then the motor in the side chamber aft bulkhead drives the lateral mass to move to specified
Behind position, the cylinder pushes down on the even block after working again, then the turning handle is separated from each other, and workpiece is positioned over placement
Region, continuous work can be realized in the above-mentioned movement of carry out so to move in circles, to effectively increase the practicability of equipment.
When backing plate needs are rotated according to workpiece orientation, the rotary electric machine drives the active conical tooth rotation
The shaft is driven to rotate after rotating the driven wheel of differential after dynamic, then by the meshing gear after the driving gear rotation
Transmitting torque makes the internal gear be equivalent to the turnning box to be rotated, and so that the backing plate is rotated after the rotary column rotation at this time,
The turning handle also rotates to specified angle at this time, to improve the transmission stability of equipment.
Present device is simple in structure, easy to use, this equipment uses plain type structure, so that this is set by motor and cylinder
It is standby to be integrated with the functions such as rotation and gripping, it effectively reduces the production cost of enterprise and improves work efficiency.
The above, the specific implementation mode only invented, but invent protection domain be not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should all be covered within the protection domain of invention.Therefore, the protection domain of invention
It should be determined by the scope of protection defined in the claims.
Description of the drawings
It, below will be to embodiment or existing in order to illustrate more clearly of inventive embodiments or technical solution in the prior art
Attached drawing is briefly described needed in technology description, it should be apparent that, the accompanying drawings in the following description is only to invent
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of overall structure diagram of multifunctional unit humanoid robot of the present invention；
Fig. 2 is the schematic diagram in the directions A-A in Fig. 1.
Specific implementation mode
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
This specification（Including any accessory claim, abstract and attached drawing）Disclosed in any feature, except non-specifically chatting
It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only
It is an example in a series of equivalent or similar characteristics.
As shown in Figs. 1-2, a kind of multifunctional unit humanoid robot of the invention, including guide rail 128, in the guide rail 128
It is installed with the side chamber 126 being open towards a left side, is installed with motor in 126 aft bulkhead of the side chamber, the front end face be connected by power of motor is set
It is equipped with thread spindle 125, the mating connection of 125 outer surface thread of the thread spindle is provided with lateral mass 124,124 upper and lower side of the lateral mass
Face is installed with fixing axle 127 symmetrical above and below, and 127 end face of the fixing axle far from the thread spindle 125 is installed with spin
129, the spin 129 is slidably connected with about 126 end wall of the side chamber, and 124 left side of the lateral mass is installed with transmission
Case 130 is installed with cavity 132 in the transmission case 130, driving motor 131 is installed in 132 right end wall of the cavity, described
The output shaft left side of driving motor 131 is installed with active spur gear 133, and 133 lower section engagement of the active spur gear is provided with
Driven spur gear 122 is installed with connecting shaft 123, the connecting shaft 123 and 132 right end wall of the cavity in the driven spur gear 122
Be rotatably assorted connection, and what the connecting shaft 123 rotated runs through 132 left end wall of the cavity and stretch out exterior space to the left, the company
123 left side of axis is installed with turnning box 137, and rotation chamber 136 is installed in the turnning box 137, and 136 right sides of the rotation chamber are fixed
There are rotary electric machine 134, the output shaft left side of the rotary electric machine 134 to be installed with drive bevel gear 135, the drive bevel gear
135 lower section engagements are provided with driven wheel of differential 101, and 101 lower face of the driven wheel of differential is installed with shaft 102, described driven
101 lower face of bevel gear is installed with shaft 102, and 136 lower section of the rotation chamber is provided with the drive cavity in the turnning box 137
104, it is provided with and communicated with chamber 105 in 104 lower end wall of the drive cavity, transluminal is provided with and communicated in even 105 lower end wall of chamber
106, the transluminal 106 is connected to exterior space, and what the shaft 102 rotated runs through 136 lower end wall of rotation chamber and stretch into
In the drive cavity 104,102 lower face of the shaft is installed with driving gear 120,120 left and right sides of the driving gear nibble and
It is provided with symmetrical meshing gear 119,119 upper surface of the meshing gear is installed with and 104 upper end wall of the drive cavity
Be rotatably assorted the bull stick 103 of connection, and what is rotated between 104 left hand end wall of the drive cavity is provided with and the meshing gear 119
The internal gear 118 of engagement, 118 lower face of the internal gear are installed with symmetrical pedestal 117,117 lower face of the pedestal
It is installed with rotary column 121, the rotary column 121 is rotatably assorted with even 105 left hand end wall of chamber and connect, what the rotary column 121 rotated
Through the transluminal 106 and exterior space is stretched out, 121 lower face of the rotary column is installed with backing plate 107,107 lower end of the backing plate
Face is installed with symmetrical hanging stick 108, and 108 lower face of the hanging stick is installed with sole piece 112, and 112 front end face of the sole piece turns
Dynamic is provided with turning handle 113, and pre-and post perforative wears groove 116 is installed in the turning handle 113, and that is slided in the wears groove 116 sets
It is equipped with sliding block 115, the company's of being provided with block 114 of 115 front end face of sliding block rotation, 107 lower face of the backing plate is installed with left and right
Symmetrical switch block 109, the interior rotation of the switch block 109 are provided with jacking block 110, and 110 lower face of the jacking block is installed with cylinder
111, the push rod of the cylinder 111 is fixed with the even block 114, and 137 upper surface of the turnning box is provided with signal prompt device.
Valuably, wherein the turning handle 113 is spine type structure, and the turning handle 113 is made to be more easy to clamp article.
Valuably, wherein the spin 129 is ball shape structure, and the spin 129 and about 126 end wall of the side chamber are complete
Full fitting and sliding connection.
Valuably, wherein the internal gear 118, meshing gear 119 and driving gear 120 form planetary gear type structure,
The driving gear 120 rotates the meshing gear 119 after rotating, then the internal gear 118 drives 121 turns of the rotary column
It is dynamic.
Valuably, wherein the pedestal 117, internal gear 118, backing plate 107 and rotary column 121 are an integral structure.
Valuably, wherein signal prompt device includes top connecting rod 300, and horizontal solid plate 304 is installed in the top connecting rod 300,
304 left side of horizontal solid plate is installed with detector 301, and 300 upper surface of top connecting rod is installed with top connecting plate 303, the top
303 left side of connecting plate is installed with warning lamp group 302.
Present device in the initial state, after the cylinder 111, rotary electric machine 134, driving motor 131 and side chamber 126
Motor in end wall is in stop working state, and the guide rail 128 is fixedly arranged on the holder of exterior space, to make above structure
It is located at initial position in the initial state, can be adjusted in follow-up work, effectively improve the working regularity of equipment.
When equipment is run, the motor in 126 aft bulkhead of side chamber drives the lateral mass 124 to move to specific bit
It sets, then behind the position that the transmission case 130 moves to, the driving motor 131 drives 133 turns of the active spur gear
Rotate the driven spur gear 122 after dynamic, after driving the connecting shaft 123 to rotate, the turnning box 137 turns to specified angle at this time
Degree makes the turning handle 113 be located at the near workpieces to be clamped, and the cylinder 111 works, and drives the even block 114 is past to move down
Dynamic, then the turning handle 113 is flared out, and workpiece is clamped, and the cylinder 111 is stopped and workpiece is made to clamp completely, then described
After motor in 126 aft bulkhead of side chamber drives the lateral mass 124 to move to designated position, the cylinder 111 makes institute after working again
The company's of stating block 114 pushes down on, then the turning handle 113 is separated from each other, and workpiece is positioned over placement region, so move in circles into
Continuous work can be realized in the above-mentioned movement of row, to effectively increase the practicability of equipment.
When the needs of the backing plate 107 are rotated according to workpiece orientation, the rotary electric machine 134 drives the initiative taper
Gear 135 drives the shaft 102 to rotate after rotating the driven wheel of differential 101 after rotating, then 120 turns of the driving gear
Make the internal gear 118 be equivalent to the turnning box 137 by the transmission torque of the meshing gear 119 after dynamic to be rotated, at this time institute
Stating after rotary column 121 rotates makes the backing plate 107 rotate, and the turning handle 113 also rotates to specified angle at this time, is set to improve
Standby transmission stability.
The beneficial effects of the invention are as follows：In the initial state due to present device, the cylinder, rotary electric machine, driving
Motor in motor and side chamber aft bulkhead is in stop working state, and the guide rail is fixedly arranged on the holder of exterior space, to
So that above structure is located at initial position in the initial state, can be adjusted in follow-up work, effectively improve the work of equipment
Make harmony.
When equipment is run, the motor in the side chamber aft bulkhead drives the lateral mass to move to designated position, then
Behind the position that the transmission case moves to, the driving motor makes described driven after driving the active spur gear to rotate
Spur gear rotates, and after driving the connecting shaft to rotate, the turnning box turns to specified angle at this time, and the turning handle is made to be located to be pressed from both sides
The near workpieces held, the cylinder operation drive the even block to move down, then the turning handle is flared out, and workpiece is clamped,
The cylinder is stopped and workpiece is made to clamp completely, then the motor in the side chamber aft bulkhead drives the lateral mass to move to specified
Behind position, the cylinder pushes down on the even block after working again, then the turning handle is separated from each other, and workpiece is positioned over placement
Region, continuous work can be realized in the above-mentioned movement of carry out so to move in circles, to effectively increase the practicability of equipment.
When backing plate needs are rotated according to workpiece orientation, the rotary electric machine drives the active conical tooth rotation
The shaft is driven to rotate after rotating the driven wheel of differential after dynamic, then by the meshing gear after the driving gear rotation
Transmitting torque makes the internal gear be equivalent to the turnning box to be rotated, and so that the backing plate is rotated after the rotary column rotation at this time,
The turning handle also rotates to specified angle at this time, to improve the transmission stability of equipment.
Present device is simple in structure, easy to use, this equipment uses plain type structure, so that this is set by motor and cylinder
It is standby to be integrated with the functions such as rotation and gripping, it effectively reduces the production cost of enterprise and improves work efficiency.
The above, the specific implementation mode only invented, but invent protection domain be not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should all be covered within the protection domain of invention.Therefore, the protection domain of invention
It should be determined by the scope of protection defined in the claims.
Claims (6)
1. a kind of multifunctional unit humanoid robot, including guide rail, opening is installed in the guide rail towards left side chamber, the side chamber
Motor is installed in aft bulkhead, the front end face be connected by power of motor is provided with thread spindle, the thread spindle outer surface thread cooperation
It is connected with lateral mass, the lateral mass upper and lower end face is installed with fixing axle symmetrical above and below, described solid far from the thread spindle
Dead axle end face is installed with spin, and end wall is slidably connected the spin up and down with the side chamber, and the lateral mass left side is fixed
There is transmission case, cavity is installed in the transmission case, driving motor is installed in the cavity right end wall, the driving motor
Output shaft left side is installed with active spur gear, is engaged below the active spur gear and is provided with driven spur gear, described driven
Connecting shaft is installed in spur gear, the connecting shaft is rotatably assorted with the cavity right end wall and connect, and the connecting shaft rotation runs through institute
It states cavity left end wall and stretches out exterior space to the left, the connecting shaft left side is installed with turnning box, and rotation is installed in the turnning box
Chamber, the rotation chamber right side are installed with rotary electric machine, and the output shaft left side of the rotary electric machine is installed with drive bevel gear,
Engagement is provided with driven wheel of differential below the drive bevel gear, and the driven wheel of differential lower face is installed with shaft, it is described from
Dynamic bevel gear lower face is installed with shaft, and the drive cavity in the turnning box, the transmission are provided with below the rotation chamber
It is provided with and communicated with chamber in chamber lower end wall, is provided with and communicated with transluminal in the even chamber lower end wall, the transluminal connects with exterior space
Logical, the shaft rotation runs through the rotation chamber lower end wall and stretches into the drive cavity, and the shaft lower face is installed with
Symmetrical meshing gear is nibbled and are provided with to driving gear, the driving gear left and right sides, and the meshing gear upper surface is solid
Equipped with being rotatably assorted the bull stick connecting with the drive cavity upper end wall, rotated between the drive cavity left hand end wall be provided with
The internal gear of the meshing gear engagement, the internal gear lower face is installed with symmetrical pedestal, the pedestal lower face
It is installed with rotary column, the rotary column is rotatably assorted with the even chamber left hand end wall and connect, and the rotary column rotation runs through the transluminal
And exterior space is stretched out, the lower end thereof face is installed with backing plate, and the backing plate lower face is installed with symmetrical hanging stick, institute
It states hanging stick lower face and is installed with sole piece, the sole piece front end face rotation is provided with turning handle, front and back pass through is installed in the turning handle
The wears groove worn, that slides in the wears groove is provided with sliding block, the company's of being provided with block of the slip front face rotation, under the backing plate
End face is installed with symmetrical switch block, and what is rotated in the switch block is provided with jacking block, and the jacking block lower face is installed with cylinder,
The push rod of the cylinder is fixed with the even block, and the turnning box upper surface is provided with signal prompt device.
2. a kind of multifunctional unit humanoid robot as described in claim 1, it is characterised in that：The turning handle is spine type knot
Structure makes the turning handle be more easy to clamp article.
3. a kind of multifunctional unit humanoid robot as described in claim 1, it is characterised in that：The spin is ball shape structure,
End wall is bonded and is slidably connected completely the spin up and down with the side chamber.
4. a kind of multifunctional unit humanoid robot as described in claim 1, it is characterised in that：The internal gear, meshing gear
Planetary gear type structure is formed with driving gear, so that the meshing gear is rotated after the driving gear rotation, then the internal tooth
Annulus moves the rotary column rotation.
5. a kind of multifunctional unit humanoid robot as described in claim 1, it is characterised in that：The pedestal, internal gear, backing plate
It is an integral structure with rotary column.
6. a kind of multifunctional unit humanoid robot as described in claim 1, it is characterised in that：Signal prompt device includes that top connects
Bar is installed with horizontal solid plate in the top connecting rod, and the horizontal solid plate left side is installed with detector, and the top small end face is fixed
There are top connecting plate, the top connecting plate left side to be installed with warning lamp group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810381622.1A CN108527421B (en) | 2018-04-25 | 2018-04-25 | A kind of multifunctional unit humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810381622.1A CN108527421B (en) | 2018-04-25 | 2018-04-25 | A kind of multifunctional unit humanoid robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108527421A true CN108527421A (en) | 2018-09-14 |
| CN108527421B CN108527421B (en) | 2019-03-05 |
Family
ID=63478505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810381622.1A Expired - Fee Related CN108527421B (en) | 2018-04-25 | 2018-04-25 | A kind of multifunctional unit humanoid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108527421B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262642A (en) * | 2018-10-24 | 2019-01-25 | 胡友红 | A kind of gripping body and the industrial robot comprising the mechanism |
| CN112494902A (en) * | 2021-01-13 | 2021-03-16 | 深圳市川宇商贸有限公司 | Badminton picking and collecting equipment with mechanical arm |
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| DE3818757A1 (en) * | 1988-05-31 | 1989-12-07 | Mannesmann Ag | PORTAL OF AN INDUSTRIAL ROBOT |
| EP0193772B1 (en) * | 1985-03-06 | 1990-04-18 | Hermann Spicher GmbH | Apparatus for automatically discharging objects from a container |
| US20030133775A1 (en) * | 2000-05-26 | 2003-07-17 | Hermann-Josef Spicher | Device for the automatic removal of objects from containers |
| CN102975199A (en) * | 2012-12-28 | 2013-03-20 | 济南铸造锻压机械研究所有限公司 | Feeding manipulator for shot blasting machine of automobile half bridge shell |
| CN103056874A (en) * | 2013-01-08 | 2013-04-24 | 苏州凯蒂亚半导体制造设备有限公司 | Mechanical arm for high-speed carrying |
| CN204414094U (en) * | 2015-01-06 | 2015-06-24 | 浙江大学 | A kind of hot transfer printing material taking/feeding manipulator |
| CN105818157A (en) * | 2016-06-02 | 2016-08-03 | 常州市金海珑机械制造有限公司 | Mechanical clamping claw used for machine manufacture |
-
2018
- 2018-04-25 CN CN201810381622.1A patent/CN108527421B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0193772B1 (en) * | 1985-03-06 | 1990-04-18 | Hermann Spicher GmbH | Apparatus for automatically discharging objects from a container |
| DE3818757A1 (en) * | 1988-05-31 | 1989-12-07 | Mannesmann Ag | PORTAL OF AN INDUSTRIAL ROBOT |
| US20030133775A1 (en) * | 2000-05-26 | 2003-07-17 | Hermann-Josef Spicher | Device for the automatic removal of objects from containers |
| CN102975199A (en) * | 2012-12-28 | 2013-03-20 | 济南铸造锻压机械研究所有限公司 | Feeding manipulator for shot blasting machine of automobile half bridge shell |
| CN103056874A (en) * | 2013-01-08 | 2013-04-24 | 苏州凯蒂亚半导体制造设备有限公司 | Mechanical arm for high-speed carrying |
| CN204414094U (en) * | 2015-01-06 | 2015-06-24 | 浙江大学 | A kind of hot transfer printing material taking/feeding manipulator |
| CN105818157A (en) * | 2016-06-02 | 2016-08-03 | 常州市金海珑机械制造有限公司 | Mechanical clamping claw used for machine manufacture |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262642A (en) * | 2018-10-24 | 2019-01-25 | 胡友红 | A kind of gripping body and the industrial robot comprising the mechanism |
| CN112494902A (en) * | 2021-01-13 | 2021-03-16 | 深圳市川宇商贸有限公司 | Badminton picking and collecting equipment with mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108527421B (en) | 2019-03-05 |
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Inventor after: Li Ling Inventor after: Xu Kexin Inventor after: Zhou Shuke Inventor after: Hu Qiaoling Inventor before: Hu Qiaoling |
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Effective date of registration: 20190123 Address after: 467036 Henan province Pingdingshan city new city Longxiang Road Applicant after: Henan University of Urban Construction Address before: 317500 No. 8, Sheng pan Road, Wan Wei Tong Village, Wen Zhen, Wenling, Taizhou, Zhejiang Applicant before: Wenling hada Electric Appliance Co., Ltd. |
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